Model Reduction of a Two-Link Rigid-Flexible Manipulator Based on Spectral Approximation Method

In this paper, the dynamic model of a two-link rigid-flexible manipulator was established by using the theory of Lagrange equation. Due to the model is a distributed-parameter system, we present a simple, efficient method for model reduction based on spectral approximation method such that a model-based scheme can be implemented. The method was illustrated by comparing with the simulation results of the reduced-order model and the virtual reduced model based on finite element method.